Superclass for deformable bodies and single and multi-rigid bodies. More...

#include <DynamicBodyd.h>

Inheritance diagram for Ravelin::DYNAMIC_BODY:

Public Types
enum	GeneralizedCoordinateType { eEuler, eSpatial, eEuler, eSpatial }

enum	GeneralizedCoordinateType { eEuler, eSpatial, eEuler, eSpatial }

Public Member Functions
virtual bool	is_enabled () const =0
	Gets whether the body's dynamics are integrated forward.

virtual MATRIXN &	calc_jacobian (boost::shared_ptr< const POSE3 > source_pose, boost::shared_ptr< const POSE3 > target_pose, boost::shared_ptr< DYNAMIC_BODY > body, MATRIXN &J)=0
	The Jacobian transforms from the generalized coordinate from to the given frame.

virtual MATRIXN &	calc_jacobian_dot (boost::shared_ptr< const POSE3 > source_pose, boost::shared_ptr< const POSE3 > target_pose, boost::shared_ptr< DYNAMIC_BODY > body, MATRIXN &J)=0

virtual void	validate_position_variables ()
	Validates position-based variables (potentially dangerous for a user to call)

virtual void	validate_velocity_variables ()
	Validates velocity-based variables (potentially dangerous for a user to call)

virtual void	set_computation_frame_type (ReferenceFrameType rftype)=0
	Sets the computation frame type for this body.

ReferenceFrameType	get_computation_frame_type () const
	Gets the computation frame type for this body.

virtual void	calc_fwd_dyn ()=0
	Forces a recalculation of forward dynamics.

virtual void	reset_accumulators ()=0
	Resets the force and torque accumulators on the dynamic body.

virtual void	rotate (const QUAT &q)=0
	Rotates the dynamic body by the given orientation.

virtual void	translate (const ORIGIN3 &o)=0
	Translates the dynamic body by the given translation.

virtual REAL	calc_kinetic_energy (boost::shared_ptr< const POSE3 > P=boost::shared_ptr< const POSE3 >())=0
	Calculates the kinetic energy of the body in an arbitrary frame.

virtual boost::shared_ptr < const POSE3 >	get_gc_pose () const =0
	Gets the frame for generalized coordinates.

virtual unsigned	num_generalized_coordinates (GeneralizedCoordinateType gctype) const =0
	Gets the number of generalized coordinates.

virtual void	set_generalized_forces (const SHAREDVECTORN &gf)=0
	Sets the generalized forces on the body.

virtual void	set_generalized_forces (const VECTORN &gf)
	Sets the generalized forces on the body.

virtual void	add_generalized_force (const SHAREDVECTORN &gf)=0
	Adds a generalized force to the body.

virtual void	add_generalized_force (const VECTORN &gf)
	Adds a generalized force to the body.

virtual void	apply_generalized_impulse (const SHAREDVECTORN &gj)=0
	Applies a generalized impulse to the body.

virtual void	apply_generalized_impulse (const VECTORN &gj)
	Applies a generalized impulse to the body.

virtual SHAREDVECTORN &	get_generalized_coordinates_euler (SHAREDVECTORN &gc)=0
	Gets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual VECTORN &	get_generalized_coordinates_euler (VECTORN &gc)
	Gets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual SHAREDVECTORN &	get_generalized_velocity (GeneralizedCoordinateType gctype, SHAREDVECTORN &gv)=0
	Gets the generalized velocity of this body.

virtual VECTORN &	get_generalized_velocity (GeneralizedCoordinateType gctype, VECTORN &gv)
	Gets the generalized velocity of this body.

virtual void	set_generalized_acceleration (const SHAREDVECTORN &ga)=0
	Sets the generalized velocity of this body.

virtual void	set_generalized_acceleration (const VECTORN &ga)
	Sets the generalized acceleration of this body.

virtual SHAREDVECTORN &	get_generalized_acceleration (SHAREDVECTORN &ga)=0
	Gets the generalized velocity of this body.

virtual VECTORN &	get_generalized_acceleration (VECTORN &ga)
	Gets the generalized acceleration of this body.

virtual void	set_generalized_coordinates_euler (const SHAREDVECTORN &gc)=0
	Sets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual void	set_generalized_coordinates_euler (const VECTORN &gc)
	Sets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual void	set_generalized_velocity (GeneralizedCoordinateType gctype, const SHAREDVECTORN &gv)=0
	Sets the generalized velocity of this body. More...

virtual void	set_generalized_velocity (GeneralizedCoordinateType gctype, const VECTORN &gv)
	Sets the generalized velocity of this body.

MATRIXN &	get_generalized_inertia (MATRIXN &M)
	Gets the generalized inertia of this body.

virtual SHAREDMATRIXN &	get_generalized_inertia (SHAREDMATRIXN &M)=0
	Gets the generalized inertia of this body.

virtual SHAREDMATRIXN &	solve_generalized_inertia (const SHAREDMATRIXN &B, SHAREDMATRIXN &X)=0
	Solves using the inverse generalized inertia.

virtual MATRIXN &	solve_generalized_inertia (const MATRIXN &B, MATRIXN &X)
	Solves using the inverse generalized inertia.

virtual MATRIXN &	solve_generalized_inertia (const SHAREDMATRIXN &B, MATRIXN &X)
	Solves using the inverse generalized inertia.

virtual SHAREDMATRIXN &	solve_generalized_inertia (const MATRIXN &B, SHAREDMATRIXN &X)
	Solves using the inverse generalized inertia.

virtual VECTORN &	solve_generalized_inertia (const VECTORN &b, VECTORN &x)
	Solves using the inverse generalized inertia.

virtual VECTORN &	solve_generalized_inertia (const SHAREDVECTORN &b, VECTORN &x)
	Solves using the inverse generalized inertia.

virtual SHAREDVECTORN &	solve_generalized_inertia (const VECTORN &b, SHAREDVECTORN &x)
	Solves using the inverse generalized inertia.

virtual SHAREDVECTORN &	solve_generalized_inertia (const SHAREDVECTORN &b, SHAREDVECTORN &x)=0
	Solves using the inverse generalized inertia.

virtual MATRIXN &	transpose_solve_generalized_inertia (const MATRIXN &B, MATRIXN &X)
	Solves the transpose matrix using the inverse generalized inertia.

virtual MATRIXN &	transpose_solve_generalized_inertia (const SHAREDMATRIXN &B, MATRIXN &X)
	Solves the transpose matrix using the inverse generalized inertia.

virtual SHAREDMATRIXN &	transpose_solve_generalized_inertia (const MATRIXN &B, SHAREDMATRIXN &X)
	Solves the transpose matrix using the inverse generalized inertia.

virtual SHAREDMATRIXN &	transpose_solve_generalized_inertia (const SHAREDMATRIXN &B, SHAREDMATRIXN &X)=0
	Solves the transpose matrix using the inverse generalized inertia.

virtual SHAREDVECTORN &	get_generalized_forces (SHAREDVECTORN &f)=0
	Gets the external forces on this body. More...

virtual VECTORN &	get_generalized_forces (VECTORN &f)
	Gets the external forces on this body. More...

virtual SHAREDVECTORN &	convert_to_generalized_force (boost::shared_ptr< SINGLE_BODY > body, const SFORCE &w, SHAREDVECTORN &gf)=0
	Converts a force to a generalized force. More...

virtual VECTORN &	convert_to_generalized_force (boost::shared_ptr< SINGLE_BODY > body, const SFORCE &w, VECTORN &gf)
	Converts a force to a generalized force. More...

virtual bool	is_enabled () const =0
	Gets whether the body's dynamics are integrated forward.

virtual MATRIXN &	calc_jacobian (boost::shared_ptr< const POSE3 > source_pose, boost::shared_ptr< const POSE3 > target_pose, boost::shared_ptr< DYNAMIC_BODY > body, MATRIXN &J)=0
	The Jacobian transforms from the generalized coordinate from to the given frame.

virtual MATRIXN &	calc_jacobian_dot (boost::shared_ptr< const POSE3 > source_pose, boost::shared_ptr< const POSE3 > target_pose, boost::shared_ptr< DYNAMIC_BODY > body, MATRIXN &J)=0

virtual void	validate_position_variables ()
	Validates position-based variables (potentially dangerous for a user to call)

virtual void	validate_velocity_variables ()
	Validates velocity-based variables (potentially dangerous for a user to call)

virtual void	set_computation_frame_type (ReferenceFrameType rftype)=0
	Sets the computation frame type for this body.

ReferenceFrameType	get_computation_frame_type () const
	Gets the computation frame type for this body.

virtual void	calc_fwd_dyn ()=0
	Forces a recalculation of forward dynamics.

virtual void	reset_accumulators ()=0
	Resets the force and torque accumulators on the dynamic body.

virtual void	rotate (const QUAT &q)=0
	Rotates the dynamic body by the given orientation.

virtual void	translate (const ORIGIN3 &o)=0
	Translates the dynamic body by the given translation.

virtual REAL	calc_kinetic_energy (boost::shared_ptr< const POSE3 > P=boost::shared_ptr< const POSE3 >())=0
	Calculates the kinetic energy of the body in an arbitrary frame.

virtual boost::shared_ptr < const POSE3 >	get_gc_pose () const =0
	Gets the frame for generalized coordinates.

virtual unsigned	num_generalized_coordinates (GeneralizedCoordinateType gctype) const =0
	Gets the number of generalized coordinates.

virtual void	set_generalized_forces (const SHAREDVECTORN &gf)=0
	Sets the generalized forces on the body.

virtual void	set_generalized_forces (const VECTORN &gf)
	Sets the generalized forces on the body.

virtual void	add_generalized_force (const SHAREDVECTORN &gf)=0
	Adds a generalized force to the body.

virtual void	add_generalized_force (const VECTORN &gf)
	Adds a generalized force to the body.

virtual void	apply_generalized_impulse (const SHAREDVECTORN &gj)=0
	Applies a generalized impulse to the body.

virtual void	apply_generalized_impulse (const VECTORN &gj)
	Applies a generalized impulse to the body.

virtual SHAREDVECTORN &	get_generalized_coordinates_euler (SHAREDVECTORN &gc)=0
	Gets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual VECTORN &	get_generalized_coordinates_euler (VECTORN &gc)
	Gets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual SHAREDVECTORN &	get_generalized_velocity (GeneralizedCoordinateType gctype, SHAREDVECTORN &gv)=0
	Gets the generalized velocity of this body.

virtual VECTORN &	get_generalized_velocity (GeneralizedCoordinateType gctype, VECTORN &gv)
	Gets the generalized velocity of this body.

virtual void	set_generalized_acceleration (const SHAREDVECTORN &ga)=0
	Sets the generalized velocity of this body.

virtual void	set_generalized_acceleration (const VECTORN &ga)
	Sets the generalized acceleration of this body.

virtual SHAREDVECTORN &	get_generalized_acceleration (SHAREDVECTORN &ga)=0
	Gets the generalized velocity of this body.

virtual VECTORN &	get_generalized_acceleration (VECTORN &ga)
	Gets the generalized acceleration of this body.

virtual void	set_generalized_coordinates_euler (const SHAREDVECTORN &gc)=0
	Sets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual void	set_generalized_coordinates_euler (const VECTORN &gc)
	Sets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual void	set_generalized_velocity (GeneralizedCoordinateType gctype, const SHAREDVECTORN &gv)=0
	Sets the generalized velocity of this body. More...

virtual void	set_generalized_velocity (GeneralizedCoordinateType gctype, const VECTORN &gv)
	Sets the generalized velocity of this body.

MATRIXN &	get_generalized_inertia (MATRIXN &M)
	Gets the generalized inertia of this body.

virtual SHAREDMATRIXN &	get_generalized_inertia (SHAREDMATRIXN &M)=0
	Gets the generalized inertia of this body.

virtual SHAREDMATRIXN &	solve_generalized_inertia (const SHAREDMATRIXN &B, SHAREDMATRIXN &X)=0
	Solves using the inverse generalized inertia.

virtual MATRIXN &	solve_generalized_inertia (const MATRIXN &B, MATRIXN &X)
	Solves using the inverse generalized inertia.

virtual MATRIXN &	solve_generalized_inertia (const SHAREDMATRIXN &B, MATRIXN &X)
	Solves using the inverse generalized inertia.

virtual SHAREDMATRIXN &	solve_generalized_inertia (const MATRIXN &B, SHAREDMATRIXN &X)
	Solves using the inverse generalized inertia.

virtual VECTORN &	solve_generalized_inertia (const VECTORN &b, VECTORN &x)
	Solves using the inverse generalized inertia.

virtual VECTORN &	solve_generalized_inertia (const SHAREDVECTORN &b, VECTORN &x)
	Solves using the inverse generalized inertia.

virtual SHAREDVECTORN &	solve_generalized_inertia (const VECTORN &b, SHAREDVECTORN &x)
	Solves using the inverse generalized inertia.

virtual SHAREDVECTORN &	solve_generalized_inertia (const SHAREDVECTORN &b, SHAREDVECTORN &x)=0
	Solves using the inverse generalized inertia.

virtual MATRIXN &	transpose_solve_generalized_inertia (const MATRIXN &B, MATRIXN &X)
	Solves the transpose matrix using the inverse generalized inertia.

virtual MATRIXN &	transpose_solve_generalized_inertia (const SHAREDMATRIXN &B, MATRIXN &X)
	Solves the transpose matrix using the inverse generalized inertia.

virtual SHAREDMATRIXN &	transpose_solve_generalized_inertia (const MATRIXN &B, SHAREDMATRIXN &X)
	Solves the transpose matrix using the inverse generalized inertia.

virtual SHAREDMATRIXN &	transpose_solve_generalized_inertia (const SHAREDMATRIXN &B, SHAREDMATRIXN &X)=0
	Solves the transpose matrix using the inverse generalized inertia.

virtual SHAREDVECTORN &	get_generalized_forces (SHAREDVECTORN &f)=0
	Gets the external forces on this body. More...

virtual VECTORN &	get_generalized_forces (VECTORN &f)
	Gets the external forces on this body. More...

virtual SHAREDVECTORN &	convert_to_generalized_force (boost::shared_ptr< SINGLE_BODY > body, const SFORCE &w, SHAREDVECTORN &gf)=0
	Converts a force to a generalized force. More...

virtual VECTORN &	convert_to_generalized_force (boost::shared_ptr< SINGLE_BODY > body, const SFORCE &w, VECTORN &gf)
	Converts a force to a generalized force. More...

Public Member Functions inherited from Ravelin::virtual_enable_shared_from_this< DYNAMIC_BODY >
boost::shared_ptr< DYNAMIC_BODY >	shared_from_this ()

boost::shared_ptr< const DYNAMIC_BODY >	shared_from_this () const

Public Attributes
std::string	body_id
	The identifier for this body.

Protected Attributes
ReferenceFrameType	_rftype
	The computation frame type.

VECTORN	gc
	Temporaries for use with integration.

VECTORN	gv

VECTORN	gcgv

VECTORN	xp

VECTORN	xv

VECTORN	xa

Detailed Description

Superclass for deformable bodies and single and multi-rigid bodies.

Member Function Documentation

virtual SHAREDVECTORN& Ravelin::DYNAMIC_BODY::convert_to_generalized_force	(	boost::shared_ptr< SINGLE_BODY >	body,
		const SFORCE &	w,
		SHAREDVECTORN &	gf
	)

pure virtual

Converts a force to a generalized force.

Parameters

body	the actual rigid body to which the force/torque is applied (at the center-of-mass)
w	the force
gf	the generalized force, on return

Note: uses the current generalized coordinates

Implemented in Ravelin::RIGIDBODY, Ravelin::RIGIDBODY, Ravelin::RC_ARTICULATED_BODY, and Ravelin::RC_ARTICULATED_BODY.

virtual SHAREDVECTORN& Ravelin::DYNAMIC_BODY::convert_to_generalized_force	(	boost::shared_ptr< SINGLE_BODY >	body,
		const SFORCE &	w,
		SHAREDVECTORN &	gf
	)

pure virtual

Converts a force to a generalized force.

Parameters

body	the actual rigid body to which the force/torque is applied (at the center-of-mass)
w	the force
gf	the generalized force, on return

Note: uses the current generalized coordinates

Implemented in Ravelin::RIGIDBODY, Ravelin::RIGIDBODY, Ravelin::RC_ARTICULATED_BODY, and Ravelin::RC_ARTICULATED_BODY.

virtual VECTORN& Ravelin::DYNAMIC_BODY::convert_to_generalized_force	(	boost::shared_ptr< SINGLE_BODY >	body,
		const SFORCE &	w,
		VECTORN &	gf
	)

inlinevirtual

Converts a force to a generalized force.

Parameters

body	the actual rigid body to which the force/torque is applied (at the center-of-mass)
w	the force
gf	the generalized force, on return

Note: uses the current generalized coordinates

Reimplemented in Ravelin::RIGIDBODY, Ravelin::RIGIDBODY, Ravelin::RC_ARTICULATED_BODY, and Ravelin::RC_ARTICULATED_BODY.

virtual VECTORN& Ravelin::DYNAMIC_BODY::convert_to_generalized_force	(	boost::shared_ptr< SINGLE_BODY >	body,
		const SFORCE &	w,
		VECTORN &	gf
	)

inlinevirtual

Converts a force to a generalized force.

Parameters

body	the actual rigid body to which the force/torque is applied (at the center-of-mass)
w	the force
gf	the generalized force, on return

Note: uses the current generalized coordinates

Reimplemented in Ravelin::RIGIDBODY, Ravelin::RIGIDBODY, Ravelin::RC_ARTICULATED_BODY, and Ravelin::RC_ARTICULATED_BODY.

virtual SHAREDVECTORN& Ravelin::DYNAMIC_BODY::get_generalized_forces ( SHAREDVECTORN & f )

pure virtual

Gets the external forces on this body.

Note: uses the current generalized coordinates

Implemented in Ravelin::RIGIDBODY, Ravelin::RIGIDBODY, Ravelin::RC_ARTICULATED_BODY, and Ravelin::RC_ARTICULATED_BODY.

virtual SHAREDVECTORN& Ravelin::DYNAMIC_BODY::get_generalized_forces ( SHAREDVECTORN & f )

pure virtual

Gets the external forces on this body.

Note: uses the current generalized coordinates

Implemented in Ravelin::RIGIDBODY, Ravelin::RIGIDBODY, Ravelin::RC_ARTICULATED_BODY, and Ravelin::RC_ARTICULATED_BODY.

virtual VECTORN& Ravelin::DYNAMIC_BODY::get_generalized_forces ( VECTORN & f )

inlinevirtual

Gets the external forces on this body.

Note: uses the current generalized coordinates

Reimplemented in Ravelin::RIGIDBODY, Ravelin::RIGIDBODY, Ravelin::RC_ARTICULATED_BODY, and Ravelin::RC_ARTICULATED_BODY.

virtual VECTORN& Ravelin::DYNAMIC_BODY::get_generalized_forces ( VECTORN & f )

inlinevirtual

Gets the external forces on this body.

Note: uses the current generalized coordinates

Reimplemented in Ravelin::RIGIDBODY, Ravelin::RIGIDBODY, Ravelin::RC_ARTICULATED_BODY, and Ravelin::RC_ARTICULATED_BODY.

virtual void Ravelin::DYNAMIC_BODY::set_generalized_velocity	(	GeneralizedCoordinateType	gctype,
		const SHAREDVECTORN &	gv
	)

pure virtual

Sets the generalized velocity of this body.

Parameters

gv	the generalized velocity

Note: uses the current generalized coordinates

Implemented in Ravelin::RIGIDBODY, Ravelin::RIGIDBODY, Ravelin::RC_ARTICULATED_BODY, and Ravelin::RC_ARTICULATED_BODY.

virtual void Ravelin::DYNAMIC_BODY::set_generalized_velocity	(	GeneralizedCoordinateType	gctype,
		const SHAREDVECTORN &	gv
	)

pure virtual

Sets the generalized velocity of this body.

Parameters

gv	the generalized velocity

Note: uses the current generalized coordinates

Implemented in Ravelin::RIGIDBODY, Ravelin::RIGIDBODY, Ravelin::RC_ARTICULATED_BODY, and Ravelin::RC_ARTICULATED_BODY.

The documentation for this class was generated from the following files:

/home/drum/Ravelin.new/include/Ravelin/DynamicBodyd.h
/home/drum/Ravelin.new/include/Ravelin/DynamicBodyf.h

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Function Documentation